version: 66.02
glider: 103
mission: 7
dive: 18
start: 11 16 107 1 55 19
data:
$ID,103
$MISSION,7
$DIVE,18
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-62423.137
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,014856,6136.331,-828.180,41,1.0,41,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-55.5
$GPS2,015339,6136.326,-828.105,14,1.5,14,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.253,-0.068
$KALMAN_X,-45982.7,95.1,68.9,51372.7,-4232.5
$KALMAN_Y,31628.9,501.0,121.2,-27933.4,2957.9
$MHEAD_RNG_PITCHd_Wd,114.0,12033,-18.2,-10.000
$D_GRID,746
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.70,-146.6,0.0,0.0,0,81,0.00,0.00,-62.88,0.000,2,0.000,0.000,33,2879,3493
$GC,83,-1.70,-146.6,4.1,-10.6,3,99,11.60,1.80,0.00,0.000,4,0.168,0.092,2035,3790,3493
$GC,350,-1.70,-146.6,50.8,-14.0,14,355,0.00,1.60,0.00,0.000,6,0.000,0.047,2035,2893,3494
$GC,677,-1.70,-146.6,93.5,-12.9,30,680,0.00,1.80,0.00,0.000,4,0.000,0.108,2035,3787,3494
$GC,826,-1.70,-146.6,113.5,-13.4,36,834,0.00,1.62,0.00,0.000,6,0.000,0.053,2035,2893,3494
$GC,1142,-1.70,-146.6,153.3,-12.5,52,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2893,3495
$GC,1451,-1.70,-146.6,193.0,-12.6,67,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2892,3495
$GC,1760,-1.70,-146.6,229.9,-11.5,82,1765,0.00,2.55,0.00,0.000,4,0.000,0.064,2035,1489,3495
$GC,1809,-1.70,-146.6,236.2,-12.9,84,1814,0.00,2.72,0.00,0.000,6,0.000,0.083,2035,2898,3495
$GC,2130,-1.70,-146.6,279.8,-13.8,100,2134,0.00,1.77,0.00,0.000,4,0.000,0.108,2035,3782,3495
$GC,2235,-1.70,-146.6,293.9,-13.7,104,2243,0.00,1.60,0.00,0.000,6,0.000,0.052,2035,2891,3495
$GC,2551,-1.70,-146.6,335.1,-13.1,120,2555,0.00,2.55,0.00,0.000,4,0.000,0.066,2035,1491,3495
$GC,2589,-1.70,-146.6,340.0,-12.4,122,2594,0.00,2.70,0.00,0.000,6,0.000,0.082,2035,2908,3495
$GC,2915,-1.70,-146.6,382.3,-13.2,138,2918,0.00,1.75,0.00,0.000,4,0.000,0.109,2035,3796,3496
$GC,2982,-1.70,-146.6,391.0,-13.6,141,2986,0.00,1.60,0.00,0.000,6,0.000,0.054,2035,2904,3495
$GC,3313,-1.70,-146.6,432.1,-12.2,157,3317,0.00,2.58,0.00,0.000,4,0.000,0.066,2035,1490,3496
$GC,3456,-1.70,-146.6,447.8,-10.4,163,3464,0.00,2.70,0.00,0.000,6,0.000,0.082,2035,2892,3496
$GC,3773,-1.70,-146.6,475.5,-7.7,179,3777,0.00,1.77,0.00,0.000,4,0.000,0.112,2035,3787,3496
$GC,3805,-1.70,-146.6,478.3,-8.4,180,3810,0.00,1.60,0.00,0.000,6,0.000,0.054,2035,2898,3496
$GC,4126,-1.70,-146.6,514.2,-12.5,196,4130,0.00,2.58,0.00,0.000,4,0.000,0.067,2035,1490,3496
$GC,4236,-1.70,-146.6,526.0,-10.2,201,4241,0.00,2.72,0.00,0.000,6,0.000,0.084,2035,2900,3496
$GC,4563,-1.70,-146.6,567.8,-14.7,217,4567,0.00,1.80,0.00,0.000,4,0.000,0.114,2035,3803,3496
$GC,4618,-1.70,-146.6,574.7,-12.1,219,4624,0.00,1.62,0.00,0.000,6,0.000,0.056,2035,2907,3496
$GC,4938,-1.70,-146.6,604.8,-7.6,235,4942,0.00,1.80,0.00,0.000,4,0.000,0.117,2035,3789,3496
$GC,5134,-1.70,-146.6,622.8,-8.4,243,5140,0.00,1.62,0.00,0.000,6,0.000,0.061,2035,2899,3495
$GC,5449,-1.70,-146.6,656.7,-11.3,259,5452,0.00,1.83,0.00,0.000,4,0.000,0.121,2035,3792,3495
$GC,5525,-1.70,-146.6,665.4,-11.6,262,5530,0.00,1.65,0.00,0.000,6,0.000,0.061,2035,2899,3495
$GC,5847,-1.70,-146.6,698.4,-9.8,278,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2899,3494
$GC,6156,-1.70,-146.6,728.4,-9.6,293,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2899,3492
$STATE,6320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6326,-0.42,0.0,746.2,10.7,301,6454,1.40,0.00,124.32,1.355,6,0.088,0.000,2319,1770,2901
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6456,1.70,146.6,751.2,0.0,307,6589,2.12,2.72,124.05,1.309,4,0.051,0.077,2783,366,2304
$GC,6843,1.72,168.8,730.5,9.0,325,6868,0.00,2.53,20.05,1.249,6,0.000,0.041,2783,1804,2212
$GC,7188,1.77,206.3,699.7,8.3,342,7230,0.00,2.60,32.65,1.287,4,0.000,0.065,2783,3164,2060
$GC,7290,1.77,206.3,689.2,10.5,346,7297,0.00,2.53,0.00,0.000,6,0.000,0.046,2783,1774,2060
$GC,7605,1.77,206.3,653.3,12.9,362,7610,0.00,2.58,0.00,0.000,4,0.000,0.064,2783,3165,2060
$GC,7666,1.77,206.3,646.0,12.1,365,7671,0.00,2.47,0.00,0.000,6,0.000,0.044,2783,1775,2059
$GC,7998,1.77,206.3,594.5,10.9,381,8002,0.00,2.58,0.00,0.000,4,0.000,0.062,2783,3164,2059
$GC,8051,1.77,206.3,590.1,10.5,383,8059,0.00,2.50,0.00,0.000,6,0.000,0.044,2783,1776,2058
$GC,8367,1.84,262.7,556.0,7.4,399,8433,0.12,2.62,54.40,1.178,4,0.051,0.063,2816,3162,1829
$GC,8495,1.84,262.7,542.6,12.9,405,8499,0.00,2.50,0.00,0.000,6,0.000,0.044,2816,1768,1829
$GC,8820,1.84,262.7,496.7,14.7,421,8824,0.00,2.62,0.00,0.000,4,0.000,0.072,2816,365,1829
$GC,9038,1.84,262.7,466.2,13.8,431,9043,0.00,2.45,0.00,0.000,6,0.000,0.039,2816,1772,1829
$GC,9363,1.84,262.7,421.9,11.3,447,9367,0.00,2.60,0.00,0.000,4,0.000,0.067,2816,372,1828
$GC,9439,1.84,262.7,411.1,15.1,450,9447,0.00,2.47,0.00,0.000,6,0.000,0.036,2816,1773,1828
$GC,9755,1.84,262.7,370.7,13.1,466,9759,0.00,2.60,0.00,0.000,4,0.000,0.063,2816,364,1828
$GC,9793,1.84,262.7,365.9,11.9,468,9797,0.00,2.45,0.00,0.000,6,0.000,0.036,2816,1782,1828
$GC,10124,1.84,262.7,322.9,13.1,484,10128,0.00,2.60,0.00,0.000,4,0.000,0.062,2816,371,1829
$GC,10156,1.84,262.7,318.3,13.9,485,10164,0.00,2.45,0.00,0.000,6,0.000,0.036,2816,1773,1829
$GC,10472,1.84,262.7,279.1,12.5,501,10476,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,371,1830
$GC,10604,1.84,262.7,260.2,13.9,507,10609,0.00,2.45,0.00,0.000,6,0.000,0.036,2816,1773,1829
$GC,10931,1.84,262.7,217.8,13.8,523,10935,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,369,1831
$GC,10996,1.84,262.7,208.5,14.2,526,11001,0.00,2.47,0.00,0.000,6,0.000,0.037,2816,1772,1831
$GC,11323,1.84,262.7,164.7,12.9,542,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1772,1832
$GC,11632,1.84,262.7,123.8,13.2,557,11636,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,367,1832
$GC,11663,1.84,262.7,119.4,12.9,558,11671,0.00,2.47,0.00,0.000,6,0.000,0.038,2816,1772,1832
$GC,11981,1.84,262.7,79.0,12.6,574,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1772,1832
$GC,12289,1.84,262.7,37.7,13.5,589,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1773,1833
$STATE,12576,end climb,SURFACE_DEPTH_REACHED
$STATE,12576,begin surface coast
$FINISH,-1.2,1.013505
$STATE,12598,end surface coast,CONTROL_FINISHED_OK
$STATE,12598,begin surface
$SM_CCo,12618,33.62,0.782,2,0,1678,300.00
$SM_GC,-0.18,0.00,0.00,33.62,0.000,0.000,0.782,52,2879,1678,-10.85,-0.59,300.00
$IRIDIUM_FIX,6108.28,-827.60,161107,020205
$TT8_MAMPS,0.028379
$HUMID,2107
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,676.1,99.1
$24V_AH,23.3,10.120
$10V_AH,10.1,3.757
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.500,113.700,355.475,33.625,0.000,37.051,40.891,126.055,8.000,0.000,0.000,14.458,1179.741,9384.554,514.433,1590.616,333.088,33.352,1321.623,0.000,1553.918,0.000,39.643
$DEVICE_MAMPS,167.973,121.186,1355.289,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.536,411.822,351.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31678,604
$CFSIZE,260165632,257159168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,3,0
$GPS,161107,052737,6135.585,-827.430,37,1.3,42,-9.0